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arXiv · 2605.20823

RelWitness: Open-Vocabulary 3D Scene Graph Generation with Visual-Geometric Relation Witnesses

Minh Anh Nguyen·Quang Huy Tran·Bao Ngoc Le·Tuan Kiet Pham·Sui Yang Guang
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Abstract

Open-vocabulary 3D scene graph generation seeks to describe object instances and their relations with flexible natural-language predicates. The central difficulty is not only vocabulary expansion, but supervision reliability: relation annotations in 3D scene graph datasets are selective, and many valid object-pair relations are unannotated. We propose RelWitness, a framework for open-vocabulary 3D scene graph generation from posed RGB-D sequences under incomplete relation supervision. The key concept is a relation witness: a concrete visual-geometric cue that makes a relation observable in the captured scene. Support relations require contact and vertical ordering; containment requires enclosure; proximity requires metric closeness; orientation requires facing direction; and stable relations should persist across views where both objects are visible. RelWitness constructs relation witness records from RGB views, depth maps, reconstructed 3D geometry, role-sensitive text, object-prior null views, and multi-view consistency. A visual-geometric witness verifier assigns unannotated relation candidates to verified missing positives, reliable negatives, or uncertain unlabeled cases. A witness-guided positive-unlabeled objective then learns from incomplete annotations without turning every missing label into a negative. We further introduce witness-consistent decoding and an RGB-D missing-relation audit protocol. Simulated manuscript-planning experiments on 3DSSG/3RScan and ScanNet-derived open-vocabulary splits show the intended behavior: improved unseen-relation recognition, higher witness precision, lower hallucination, and reduced redundant relation phrases. All numerical results are planning values and must be replaced by reproduced measurements before submission

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Minh Anh Nguyen, Quang Huy Tran, Bao Ngoc Le, Tuan Kiet Pham, Sui Yang Guang. 2026-05-31. RelWitness: Open-Vocabulary 3D Scene Graph Generation with Visual-Geometric Relation Witnesses. https://arxiv.org/abs/2605.20823

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